[1]白国长,侯伯杰..机器人的一种鲁棒控制方法[J].郑州大学学报(工学版),2002,23(01):52-54，58.[doi:10.3969/j.issn.1671-6833.2002.01.015]
　Bai Guochang,Berger Hou.A robust control method for robots[J].Journal of Zhengzhou University (Engineering Science),2002,23(01):52-54，58.[doi:10.3969/j.issn.1671-6833.2002.01.015]

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机器人的一种鲁棒控制方法()

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《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:

23卷

期数:

2002年01期

页码:

52-54，58

栏目:

出版日期:

1900-01-01

文章信息/Info

Title:

A robust control method for robots

作者:

白国长; 侯伯杰.

郑州大学机械工程学院,河南,郑州,450002, 郑州大学机械工程学院,河南,郑州,450002

Author(s):

Bai Guochang; Berger Hou

关键词:

机器人;  鲁棒控制;  PDFSV控制

Keywords:

robots;  Robust control;  PDFSV control

DOI:

10.3969/j.issn.1671-6833.2002.01.015

文献标志码:

A

摘要:

通过对一个三自由度机械手分别采用PID和PDFSV控制,介绍PDFSV方法在机器人位置控制中的运用.改变被控对象各阶系数和加阶跃和正弦干扰仿真,并对其进行理论分析.结果表明:该控制方法设计简单,响应速度快,且无超调,其控制形式适合机器人的需要,其良好的鲁棒性可以弥补机械手的非线性因素和关节间耦合作用.只需位置、速度反馈信号就能完成对位置、速度和加速度的控制.同时控制中计算量小也有利于其实际运用.

Abstract:

By using PID and PDFSV control for a three-degree-of-freedom manipulator, the application of PDFSV method in robot position control is introduced. Simulate the coefficients of each order and the addition step and sinusoidal interference of the controlled object, and analyze them theoretically. The results show that the control method has simple design, fast response speed, and no overshoot, and its control form is suitable for the needs of the robot, and its good robustness can make up for the nonlinear factors and inter-joint coupling of the manipulator. Only position and velocity feedback signals are required to control position, velocity and acceleration. At the same time, the small amount of calculation in the control is also conducive to its practical application.

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